CN107883949A - The magnetic force detection method and fork truck in a kind of warehouse - Google Patents
The magnetic force detection method and fork truck in a kind of warehouse Download PDFInfo
- Publication number
- CN107883949A CN107883949A CN201711071115.XA CN201711071115A CN107883949A CN 107883949 A CN107883949 A CN 107883949A CN 201711071115 A CN201711071115 A CN 201711071115A CN 107883949 A CN107883949 A CN 107883949A
- Authority
- CN
- China
- Prior art keywords
- magnet
- wire
- piecewise
- labels
- fork truck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
Abstract
The embodiment of the invention discloses the magnetic force detection method and fork truck in a kind of warehouse.This method includes：Gather the ID labels of piecewise magnet-wire；Judge whether the magnetism intensity of the piecewise magnet-wire is less than preset standard value；If so, the ID labels of the piecewise magnet-wire are then defined as problem ID labels.The embodiment of the present invention ensure that the comprehensive and accuracy of magnetic force detection, improve the efficiency and promptness of magnetic line of force maintenance.
Description
Technical field
The present embodiments relate to the magnetic force detection method and fork truck of airmanship, more particularly to a kind of warehouse.
Background technology
With the development of information technology, industrialization is fully merged with informationization.Automatic Warehouse is in warehousing management
Advantage also show day by day.Navigation is particularly important in the running of Automatic Warehouse, can conveniently position position in storehouse, realizes accurate
Goods warehousing, outbound.Wherein the navigation of the earth magnetism line of force and ground marker navigation are widely used in the navigation of Automatic Warehouse.The earth magnetism line of force
Navigation is to realize navigation by being configured the magnetic line of force in warehouse.Ground marker navigation is entered by setting terrestrial reference card to be used as positioning terrestrial reference
Row navigation.
At present, navigation mode widely used in Automatic Warehouse has cost is cheap, deployment is quick, technology is simple etc.
Plurality of advantages.But do not carried out in real time for the magnetic force detection in warehouse, due to the magnetic letter in the earth magnetism line of force and terrestrial reference card
Breath is easily disturbed, and the defects of unstability be present, is led to not detection in time and is gone wrong, safeguards the earth magnetism line of force or terrestrial reference in time
Card, the navigation in warehouse is in turn resulted in because magnetic force disappears or decrease causes navigation inaccurate.
The content of the invention
The embodiment of the present invention provides a kind of the magnetic force detection method and fork truck in warehouse, solves to detect non-reality to magnetic force in warehouse
When caused by navigation it is inaccurate the problem of.
In a first aspect, the embodiments of the invention provide a kind of magnetic force detection method in warehouse, this method includes：
Gather the ID labels of piecewise magnet-wire；
Judge whether the magnetism intensity of the piecewise magnet-wire is less than preset standard value；
If so, the ID labels of the piecewise magnet-wire are then defined as problem ID labels.
Further, the ID labels of the collection piecewise magnet-wire include：
The ID labels of the piecewise magnet-wire stored in collection RFID card.
Further, the ID labels of the collection piecewise magnet-wire include：
According to video identification mode, the ID labels of collection piecewise magnet-wire.
Further, methods described also includes：
According to the position of piecewise magnet-wire, the key label information of the piecewise magnet-wire, the key mark are set
Label information includes crucial label and non-key label.
Further, after the ID labels of piecewise magnet-wire are defined as into problem ID labels, in addition to：
Extract key label information corresponding to described problem ID labels.
Further, when the key label information is non-key label, methods described also includes：
Judge whether the magnetism intensity of piecewise magnet-wire corresponding to the default neighborhood ID labels of described problem ID labels is less than
Preset standard value；
Instructed if it is not, then sending normal work to fork truck.
Further, when the key label information is non-key label, methods described also includes：
If the magnetism intensity of piecewise magnet-wire corresponding to the default neighborhood ID labels of described problem ID labels is less than pre- bidding
Quasi- value；
Break-off is then sent to instruct to fork truck.
Further, when the key label information is crucial label, methods described also includes：
Break-off is sent to instruct to fork truck.
Second aspect, the embodiment of the present invention additionally provide a kind of fork truck, including：Power set, hoisting apparatus and controller,
The fork truck also includes：
Geomagnetism detecting sensor, for detecting the magnetism intensity of piecewise magnet-wire, and by the magnetic force of the piecewise magnet-wire
Intensity is sent to host computer, and the host computer is used for the magnetic force detection side for performing the warehouse as described in first aspect of the embodiment of the present invention
Method.
Further, the fork truck also includes：
Earth-magnetism navigation sensor, for being navigated to the motion track of fork truck.
The embodiment of the present invention is by gathering the technical scheme of the magnetism intensity of piecewise magnet-wire, compared to adopting in the prior art
Collect the magnetism intensity of whole section of ground magnet-wire, it is ensured that the comprehensive and accuracy of magnetic force detection, and by comparing segmentation earth magnetism
The magnetism intensity of line and the size of predetermined threshold value, determine that magnetism intensity is less than the ID labels of the segmentation magnetic line of force of predetermined threshold value, it is real
The record of the magnetic line of force now weakened to magnetic force, the convenient magnetic line of force weakened according to ID label fast positionings magnetism intensity, improves magnetic
The efficiency and promptness that the line of force is safeguarded.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing does one and simply introduced, it should be apparent that, drawings in the following description are some embodiments of the present invention, for this
For the those of ordinary skill of field, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other
Accompanying drawing.
Fig. 1 is a kind of flow chart of the magnetic force detection method in warehouse that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of the magnetic force detection method in warehouse that the embodiment of the present invention two provides；
Fig. 3 is a kind of structural representation for fork truck that the embodiment of the present invention three provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, hereinafter with reference to attached in the embodiment of the present invention
Figure, technical scheme is clearly and completely described by embodiment, it is clear that described embodiment is the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of protection of the invention.
Embodiment one
Fig. 1 is a kind of flow chart of the magnetic force detection method in warehouse that the embodiment of the present invention one provides.The skill of the present embodiment
Art scheme goes for situation about being detected in Automatic Warehouse to the magnetic line of force, and is configured in host computer and uses, upper
Machine for example can be earth-magnetism navigation maintenance system.This method specifically includes following operation：
S110, the ID labels for gathering piecewise magnet-wire.
Ground magnet-wire is posted on ground in warehouse, to facilitate the navigation and positioning of the automation fork truck in warehouse.Ground magnet-wire
Can make it is sectional, placed between every two sections of ground magnet-wire a RFID card or special marking, such as number designation with
For video identification.Ground magnet-wire makes a section, convenient to position piecewise magnet-wire of problems, and readily replaceable maintenance.
Wherein, corresponding segments are stored with RFID card the ID labels of magnet-wire, this ID label can at least reflect the volume of piecewise magnet-wire
Number and positional information.The identification by stages of magnet-wire over the ground can be realized by placing RFID card or special marking.Specifically, adopting
Set segmentation the ID labels of magnet-wire when, can have by the way of：The ID labels of the piecewise magnet-wire stored in collection RFID card,
Or according to video identification mode, the ID labels of collection piecewise magnet-wire.Video identification mode can be according to each in warehouse
The video for the camera shooting that individual position is set, collects special marking corresponding to the magnet-wire of piecewise i.e. ID labels.
S120, judge whether the magnetism intensity of the piecewise magnet-wire is less than preset standard value.
Under navigational state, what navigation geomagnetic sensor fed back is 0-1 data signal, represents Yes/No on line.But such as
Tab phenolphthaleinum boat geomagnetic sensor is when be analog quantity, except feed back whether on line in addition to, moreover it is possible to judge the degree of strength of magnetic force, this is strong
Weak degree can be used as the mark whether magnetic line of force magnetic force is decayed to below standard value.When the magnetic force that analog quantity is passed to has reached
During the edge that will be failed, this section of magnetic line of force magnetic force deficiency of system prompt.Exemplarily, can be according to geomagnetic sensors detection point
The magnetism intensity of piecewise magnet-wire is uploaded to host computer by the magnetism intensity of section ground magnet-wire, geomagnetic sensor, and host computer judges to divide
Whether the magnetism intensity of section ground magnet-wire is less than preset standard value.Preset standard value can be empirical value or pass through multiple
Test the experiment value obtained.
If the magnetism intensity of S130, piecewise magnet-wire is less than preset standard value, by the ID labels of the piecewise magnet-wire
It is defined as problem ID labels.
When the magnetism intensity of piecewise magnet-wire is less than preset standard value, it may be determined that the magnetic force reduction of piecewise magnet-wire,
The ID labels of the piecewise magnet-wire are defined as problem ID labels, the magnetic stripe is correspondingly changed to maintain easily personnel.
For the embodiment of the present invention by gathering the magnetism intensity of piecewise magnet-wire, the magnetic force compared to whole section of ground magnet-wire of collection is strong
Degree, it is ensured that the comprehensive and accuracy of magnetic force detection, and judge the magnetism intensity and predetermined threshold value of piecewise magnet-wire
Size, determine that magnetism intensity is less than the ID labels of the segmentation magnetic line of force of predetermined threshold value, realize the note of the magnetic line of force to magnetic force reduction
Record, the convenient magnetic line of force weakened according to ID label fast positionings magnetism intensity, improve efficiency and promptness that the magnetic line of force is safeguarded.
Embodiment two
Fig. 2 is a kind of flow chart of the magnetic force detection method in warehouse that the embodiment of the present invention two provides.The embodiment of the present invention
On the basis of above-described embodiment, the position according to piecewise magnet-wire is further increased, the pass of the piecewise magnet-wire is set
Key label information, the key label information include the operation of crucial label and non-key label.Correspondingly, the present embodiment
Method include：
S210, the ID labels for gathering piecewise magnet-wire.
S220, judge whether the magnetism intensity of the piecewise magnet-wire is less than preset standard value.
If the magnetism intensity of S230, piecewise magnet-wire is less than preset standard value, by the ID labels of the piecewise magnet-wire
It is defined as problem ID labels.
S240, the position according to piecewise magnet-wire, the key label information of the piecewise magnet-wire, the key are set
Property label information includes crucial label and non-key label.
According to the difference of warehouse layout, the importance of each magnetic line of force segmentation is different, even if the segmentation of some magnetic lines of force is
Lose magnetism, system still can keep on the go to be terminated until the same day runs.But some magnetic lines of force need to change at once, show
Example property, the middle magnetic section in one section of long straight road is non-key magnetic section.Therefore, can be set according to the position of piecewise magnet-wire
The key label information of piecewise magnet-wire is put, key label information includes crucial label and non-key label.It can also incite somebody to action
Problem ID labels are taken the magnetic sections of different importance different compared with the ID label sections of default important piecewise magnet-wire
Disposal options.
S240 execution sequence is not limited thereto.
Key label information corresponding to S250, extraction described problem ID labels, and judge the key label information
Whether it is non-key label, if so, S260 is then performed, if it is not, then performing S280.
S260, judge piecewise magnet-wire corresponding to the default neighborhood ID labels of described problem ID labels magnetism intensity whether
Less than preset standard value；If it is not, S270 is then performed, if so, then performing S280.
When piecewise magnet-wire corresponding to problem ID labels is non-key ground magnet-wire, the pre- of problem ID labels is determined whether
If whether the magnetism intensity of piecewise magnet-wire corresponding to the ID labels in field is less than preset standard value, when default field ID labels
When the magnetism intensity of piecewise magnet-wire is less than preset standard value, sends break-off and instruct to fork truck, it is ensured that non-key magnetic
When the magnetic force of section and surrounding magnetic section weakens, the enough attention of personnel is maintained, and avoids attendant from thinking only non-pass
Key magnetic section magnetic force weakens, and situation about can not safeguard in time.
If the magnetism intensity of piecewise magnet-wire is more than preset standard corresponding to the ID labels in the default field of problem ID labels
Value, then can determine the intact situation of surrounding's magnetic section of non-key magnetic section, and the whole fork truck system that automates can continue normally to transport
Make, after end-of-job or After Hours, maintenance replacing is carried out to failure magnetic section by attendant.
For crucial magnetic section, maintenance system suspends running of the fork truck in the crucial magnetic section region, by attendant to failure
Magnetic section carries out Fast-Maintenance replacing.
S270, transmission normal work are instructed to fork truck.
S280, transmission break-off are instructed to fork truck.
The present embodiment sets the key label information of piecewise magnet-wire, improved crucial according to the position of piecewise magnet-wire
The attention degree of the ground magnet-wire of position, different disposal options are taken according to the magnetic section of different importance, ensure that magnetic force occurs in magnetic section
It can be in time maintained during the situation of reduction, improve the magnetic force stability in warehouse.
Embodiment three
Fig. 3 is a kind of structural representation of fork truck provided in an embodiment of the present invention.The fork truck includes：Power set 31, rise
32 and controller 33 are put in refitting, and the fork truck also includes：
Geomagnetism detecting sensor 34, for detecting the magnetism intensity of piecewise magnet-wire, and by the magnetic of the piecewise magnet-wire
Force intensity is sent to host computer, and the host computer is used for the magnetic force detection side for performing the warehouse provided such as any embodiment of the present invention
Method.Power set 31 are used to provide power to fork truck.Hoisting apparatus 32 can include pallet 321 and support 322, for carrying goods
Thing.
Further, the fork truck also includes：
Earth-magnetism navigation sensor, for being navigated to the motion track of fork truck.
The embodiment of the present invention detects the magnetism intensity of piecewise magnet-wire by geomagnetism detecting sensor, compared to whole section of detection
The magnetism intensity of ground magnet-wire, it is ensured that the comprehensive and accuracy of magnetic force detection, and magnetism intensity is sent to host computer,
Host computer judges the magnetism intensity of piecewise magnet-wire and the size of predetermined threshold value, determines that magnetism intensity is less than the segmentation of predetermined threshold value
The ID labels of the magnetic line of force, the record of the magnetic line of force to magnetic force reduction is realized, it is convenient weak according to ID label fast positioning magnetism intensities
The magnetic line of force of change, improve efficiency and promptness that the magnetic line of force is safeguarded.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. magnetic force detection method in warehouse, it is characterised in that including：Gather the ID labels of piecewise magnet-wire；Judge whether the magnetism intensity of the piecewise magnet-wire is less than preset standard value；If so, the ID labels of the piecewise magnet-wire are then defined as problem ID labels.
- 2. according to the method for claim 1, it is characterised in that the ID labels of the collection piecewise magnet-wire include：The ID labels of the piecewise magnet-wire stored in collection RFID card.
- 3. according to the method for claim 1, it is characterised in that the ID labels of the collection piecewise magnet-wire include：According to video identification mode, the ID labels of collection piecewise magnet-wire.
- 4. according to the method for claim 1, it is characterised in that also include：According to the position of piecewise magnet-wire, the key label information of the piecewise magnet-wire, the key label letter are set Breath includes crucial label and non-key label.
- 5. according to the method for claim 4, it is characterised in that the ID labels of piecewise magnet-wire are being defined as problem ID marks After number, in addition to：Extract key label information corresponding to described problem ID labels.
- 6. according to the method for claim 5, it is characterised in that when the key label information is non-key label, institute Stating method also includes：Judge whether the magnetism intensity of piecewise magnet-wire corresponding to the default neighborhood ID labels of described problem ID labels is less than to preset Standard value；Instructed if it is not, then sending normal work to fork truck.
- 7. according to the method for claim 6, it is characterised in that when the key label information is non-key label, institute Stating method also includes：If the magnetism intensity of piecewise magnet-wire is less than preset standard value corresponding to the default neighborhood ID labels of described problem ID labels；Break-off is then sent to instruct to fork truck.
- 8. according to the method for claim 5, it is characterised in that described when the key label information is crucial label Method also includes：Break-off is sent to instruct to fork truck.
- 9. a kind of fork truck, including：Power set, hoisting apparatus and controller, it is characterised in that also include：Geomagnetism detecting sensor, for detecting the magnetism intensity of piecewise magnet-wire, and by the magnetism intensity of the piecewise magnet-wire Send to host computer, the host computer and be used for the magnetic force detection method that perform claim requires any one of the 1-8 warehouse.
- 10. fork truck according to claim 9, it is characterised in that also include：Earth-magnetism navigation sensor, for being navigated to the motion track of fork truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071115.XA CN107883949A (en) | 2017-11-03 | 2017-11-03 | The magnetic force detection method and fork truck in a kind of warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071115.XA CN107883949A (en) | 2017-11-03 | 2017-11-03 | The magnetic force detection method and fork truck in a kind of warehouse |
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| CN107883949A true CN107883949A (en) | 2018-04-06 |
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| CN201711071115.XA Pending CN107883949A (en) | 2017-11-03 | 2017-11-03 | The magnetic force detection method and fork truck in a kind of warehouse |
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Cited By (1)
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